Road vehicles — Test object monitoring and control for active safety and automated/autonomous vehicle testing — Functional requirements, specifications and communication protocol

Véhicules routiers — Surveillance et contrôle des objets de test pour l’évaluation de la sécurité active et des véhicules automatisés/autonomes — Exigences fonctionnelles, caractéristiques et protocole de communication

General Information

Status

Not Published

ICS

43.020 - Road vehicles in general

Technical Committee

ISO/TC 22/SC 33 - Vehicle dynamics and chassis components

Drafting Committee

ISO/TC 22/SC 33/WG 16 - Active Safety test equipment

Current Stage

6000 - International Standard under publication

Completion Date

20-Jan-2023

Ref Project

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REDLINE ISO/TS 22133 - Road vehicles — Test object monitoring and control for active safety and automated/autonomous vehicle testing — Functional requirements, specifications and communication protocol
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ISO/TS 22133 - Road vehicles — Test object monitoring and control for active safety and automated/autonomous vehicle testing — Functional requirements, specifications and communication protocol
Released:11/10/2022

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ISO/TS 22133 - Road vehicles — Test object monitoring and control for active safety and automated/autonomous vehicle testing — Functional requirements, specifications and communication protocol Released:11/10/2022

English language

102 pages

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© ISO 2022 – All rights reserved
ISO/TC 22/SC 33/WG 16 N 325
ISO/DTS 22133
Date: 2022-06-2910
ISO/TC 22/SC 33/WG 16
Secretariat: SIS
Road vehicles — Test object monitoring and control for active safety and
automated/autonomous vehicle testing — Functional requirements,
specifications and communication protocol

Véhicules routiers – Surveillance et contrôle des objets de test pour l’évaluation de la sécurité active et des

véhicules automatisés/autonomes – Exigences fonctionnelles, caractéristiques et protocole de

communication
DTS stage
Warning for WDs and CDs

This document is not an ISO International Standard. It is distributed for review and comment. It is subject to

change without notice and may not be referred to as an International Standard.

Recipients of this draft are invited to submit, with their comments, notification of any relevant patent rights of

which they are aware and to provide supporting documentation.
---------------------- Page: 1 ----------------------
ISO/DTSTS 22133:2022(E)
© ISO 2022

publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical,

including photocopying, or posting on the internet or an intranet, without prior written permission. Permission

can be requested from either ISO at the address below or ISO’s member body in the country of the requester.

ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2022 – All rights reserved
---------------------- Page: 2 ----------------------
ISO/DTSTS 22133:2022(E)
Contents

Introduction.................................................................................................................................................................. vii

Scope .......................................................................................................................................................................... 1

Normative references .......................................................................................................................................... 1

Terms and definitions .......................................................................................................................................... 1

Abbreviated terms ................................................................................................................................................ 4

Test scenario illustration .................................................................................................................................... 5

General requirements and recommendations ............................................................................................ 6

6.1 Function overview ................................................................................................................................................. 6

6.2 Test object coordinate system .......................................................................................................................... 6

Vehicle ................................................................................................................................................................. 6

Moveable test objects other than vehicle ............................................................................................... 7

6.3 Test scenario coordinate system ..................................................................................................................... 9

Background info: tectonic/continental plate drift .............................................................................. 9

Coordinate system – Tests on proving ground ..................................................................................... 9

Coordinate system – Test on other test areas .................................................................................... 10

6.4 Time requirements ............................................................................................................................................ 10

General time requirements ...................................................................................................................... 10

Time representation ................................................................................................................................... 10

Absolute time ................................................................................................................................................. 10

Relative time .................................................................................................................................................. 11

Time resolution ............................................................................................................................................. 11

Time accuracy (and precision) ................................................................................................................ 11

Time synchronization ................................................................................................................................. 11

Date synchronization .................................................................................................................................. 12

Network delay................................................................................................................................................ 12

6.5 Communication requirements and permissions .................................................................................... 13

Safety and risk assessment requirements and recommendations ................................................... 14

7.1 General ................................................................................................................................................................... 14

7.2 Local test object fence and global geofence .............................................................................................. 15

Common requirements and recommendations ................................................................................ 15

Global geofence ............................................................................................................................................. 15

Local test object fence ................................................................................................................................. 15

Communication security requirements ..................................................................................................... 17

Architecture and interfaces ............................................................................................................................ 17

9.1 General ................................................................................................................................................................... 17

9.2 Control centre and test object states ........................................................................................................... 18

General ............................................................................................................................................................. 18

Test objects state diagram ........................................................................................................................ 18

Test object state change conditions ....................................................................................................... 20

Control centre state diagram ................................................................................................................... 20

Control centre state change triggers ..................................................................................................... 21

9.3 Communication setup ....................................................................................................................................... 22

General ............................................................................................................................................................. 22

Test object discovery .................................................................................................................................. 22

TCP communication setup (control channel) .................................................................................... 22

UDP communication setup (process channel) ................................................................................... 23

File transfer protocol (FTP) ...................................................................................................................... 25

9.4 Control functionalities ...................................................................................................................................... 25

Automated and non-automated drive .................................................................................................. 25

Remote-control manoeuvring ................................................................................................................. 26

Trajectory and scenario-based testing ....................................................................................................... 28

10.1 Introduction to trajectory and scenario-based testing .................................................................. 28

10.2 Static trajectories ......................................................................................................................................... 28

10.3 Dynamic trajectories ................................................................................................................................... 28

10.4 Scenario-description languages .............................................................................................................. 29

Functional requirements ................................................................................................................................. 29

11.1 Device interface description XML (DIDX) ............................................................................................ 29

11.2 Control centre requirements and recommendations ..................................................................... 30

11.3 Stationary test object requirements ...................................................................................................... 30

11.4 Moveable test object requirements and recommendations ......................................................... 31

11.5 Functions with behaviour description ................................................................................................. 31

Arm and disarm test object ....................................................................................................................... 31

Start test ........................................................................................................................................................... 32

Emergency stop of test scenario (initiated by the CC) .................................................................... 33

Emergency stop of test scenario (upon request from test object) .............................................. 34

Normal stop of test scenario ..................................................................................................................... 35

Download static (pre planned) trajectories ....................................................................................... 36

Cyclic monitor and heartbeat ................................................................................................................... 36

Adaptive synchronization point .............................................................................................................. 36

Remote-control manoeuvring ................................................................................................................. 39

Trigger and action ................................................................................................................................ 40

Interface requirements .................................................................................................................................... 41

12.1 General ............................................................................................................................................................. 41

12.2 Message ............................................................................................................................................................ 42

Message structure ........................................................................................................................................ 42

Sequential byte order ................................................................................................................................. 42

Message header ............................................................................................................................................. 43

Message content ............................................................................................................................................ 44

Message footer ............................................................................................................................................... 45

Protocol tunnel .............................................................................................................................................. 46

Vendor-specific messages ......................................................................................................................... 46

12.3 Collective message overview.................................................................................................................... 46

Trajectory object message - TRAJ (MsgID 0x0001) .......................................................................... 48

Object setting message – OSEM (MsgID 0x0002) .............................................................................. 52

Object state change request message – OSTM (MsgID 0x0003) .................................................. 59

Start message -STRT (MsgID 0x0004) ................................................................................................... 60

Heartbeat message – HEAB (MsgID 0x0005) ...................................................................................... 61

Monitor message – MONR (MsgID 0x0006)......................................................................................... 63

Monitor message 2 – MONR2 (MsgID 0x0007) .................................................................................. 66

GPS second of week roll over message – SOWM (MsgID 0x0008) ............................................... 68

Synchronization point configuration message – SYPM (MsgID 0x000B) ................................. 69

Master time to synchronization point message -MTSP (MsgID 0x000C) .......................... 70

Remote-control manoeuvring message – RCMM (MsgID 0x000A) ..................................... 70

Remote-control manoeuvring message 2 – RCMM2 (MsgID 0x0016)................................ 73

Trigger configuration message – TRCM (MsgID 0x0021) ....................................................... 76

Action configuration message – ACCM (MsgID 0x0022) ......................................................... 79

Trigger event occured message – TREO (MsgID 0x0023) ...................................................... 81

Execute action message – EXAC (MsgID 0x0024) ...................................................................... 82

Cancel or delete trigger and action – CADE (MsgID 0x0025) ................................................ 82

Action performed message – APEM (MsgID 0x0026) .............................................................. 83

Discovery request DREQ (MsgID 0x0010) ................................................................................... 84

iv © ISO 2022 – All rights reserved
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ISO/DTSTS 22133:2022(E)

Discovery response DRES (MsgID 0x0011) ................................................................................. 84

Parameter request message – PREQ (MsgID 0x0012) ............................................................. 85

Parameter response message PRES (MsgID 0x0013) .............................................................. 86

GeoFence message GEOF (MsgID 0x0009) ................................................................................... 87

General data message - GEDM (MsgID 0x0017) ......................................................................... 88

General response message - GREM (MsgID 0x0018) ............................................................... 90

Annex A (normative) Trajectory file format .................................................................................................... 92

Annex B (informative) Message footer checksum calculation .................................................................. 95

Annex C (informative) Trigger and action ........................................................................................................ 98

Annex D (normative) Device interface description XML (DIDX) ............................................................ 103

Bibliography ............................................................................................................................................................... 105

© ISO 2022 – All rights reserved v
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ISO/DTSTS 22133:2022(E)
Foreword

ISO (the International Organization for Standardization) is a worldwide federation of national standards

bodies (ISO member bodies). The work of preparing International Standards is normally carried out

through ISO technical committees. Each member body interested in a subject for which a technical

committee has been established has the right to be represented on that committee. International

organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO

collaborates closely with the International Electrotechnical Commission (IEC) on all matters of

electrotechnical standardization.

The procedures used to develop this document and those intended for its further maintenance are

described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the

different types of ISO documents should be noted. This document was drafted in accordance with the

editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).

Attention is drawn to the possibility that some of the elements of this document may be the subject of

patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any

patent rights identified during the development of the document will be in the Introduction and/or on

the ISO list of patent declarations received (see www.iso.org/patents).

Any trade name used in this document is information given for the convenience of users and does not

constitute an endorsement.

For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and

expressions related to conformity assessment, as well as information about ISO's adherence to the World

Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see

www.iso.org/iso/foreword.html.

This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 33,

Vehicle dynamics and chassis components, Working Group 16, Active safety test equipment.

Any feedback or questions on this document should be directed to the user’s national standards body. A

complete listing of these bodies can be found at www.iso.org/members.html.
vi © ISO 2022 – All rights reserved
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ISO/DTSTS 22133:2022(E)
Introduction

Testing of collision avoidance systems, active safety functions and more advanced autonomous functions

in vehicles require testing on proving grounds. The purpose is to expose the vehicle under test to

potentially dangerous traffic situations in a safe manner. The evaluation is done during development, and

in voluntary and mandatory test procedures.

To orchestrate these traffic scenarios, various impactable targets representing traffic actors have to beare

controlled. The number of controlled targets may be one or many depending on the required traffic

situation scenario. Several requirements are important ranging from safety, to position and speed

precision, to logging capabilities.

This document specifies requirements, functionality and a protocol allowing for multivendor target

carrier systems to be controlled according to the required traffic situation scenario, to report expected

information for logging purposes and other functions required.
© ISO 2022 – All rights reserved vii
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ISO/DTSTS 22133:2022(E)
Road vehicles — Test object monitoring and control for active
safety and automated/autonomous vehicle testing — Functional
requirements, specifications and communication protocol
Scope

This document specifies requirements, procedures and message formats for controlling and monitoring

of test targets, used for testing of active safety functions and autonomous vehicles.

The document specifies functionality and messaging for monitoring and controlling of test objects by a

control centre facilitating an interoperable test object environment. This document defines a

communication protocol which allows for the control centre to safely execute tests using test objects from

multiple vendors.

This document does not specify the internal architecture of the test object nor control centre.

This document does not specify how testing of the vehicles shall be performed.
Normative references

The following documents are referred to in the text in such a way that some or all of their content

constitutes requirements of this document. For dated references, only the edition cited applies. For

undated references, the latest edition of the referenced document (including any amendments) applies.

ISO 8601:2004, Data elements (all parts), Date and time — Representations for information interchange

formats — Information interchange — Representation of dates and times

ISO 8855, Road vehicles — Vehicle coordinate system orientation dynamics and road-holding ability —

Vocabulary
Terms and definitions
For the purposes of this document, the following terms and definitions apply.

ISO and IEC maintain terminologicalterminology databases for use in standardization at the following

addresses:
— ISO Online browsing platform: available at https://www.iso.org/obp
— IEC Electropedia: available at https://www.electropedia.org/
3.1
test object

entity, as defined in ISO 34501, part of a traffic scenario under monitoring and control by the control

centre (3.5)

Note 1 to entry: Two types of test objects exist; moveable and stationary test objects. (3.4).

Note 2 to entry: A test object can have several attributes, see Figure 1.
© ISO 2022 – All rights reserved 1
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ISO/DTSTS 22133:2022(E)
Relations and inheritance view
3.2
subject vehicle
vehicle to be tested with the system

Note 1 to entry: The subject vehicle, SV, is also known as vehicle under test, VUT.

Note 2 to entry: There may be one subject vehicle (standard setup) or a set of subject vehicles in the specific traffic

scenario.

Note 3 to entry: The subject vehicle may be under safety-driver control and/or under control-centre (3.5) control.

Note 4 to entry: The subject vehicle is an instantiated test object (3.1) in either type of;: stationary test object (3.4)

or moveable test object (3.3).
3.3
moveable test object

object under control by the control centre (3.5) which has the capability of activation of physical

movement
Note 1 to entry: The subject vehicle (3.2) is typically a moveable test object.

Note 2 to entry: Various levels of control are possible;: open-loop control (using no feedback from the real-time

activities of other test objects (3.1) or environment),) and closed-loop control (taking into account activities of other

test objects in real-time and environment). One other type of controlling/triggering is related to test object unique

features like;: turn indicator, headlight beam, etc.

EXAMPLE Traffic simulation vehicles, also known as traffic support vehicles (TSV), soft crash targets (SCT).

3.4
stationary test object

part of a traffic scenario, which is not moveable but may be under control by the control centre (3.5)

Note 1 to entry: A VUT may also be a stationary test object.

Note 2 to entry: Different stationary test objects can exist. Normally they are divided in to two groups: Activeactive

and passive infrastructure elements (ISE).

EXAMPLE Active ISE: Traffictraffic lights, lighting, rain/snow/fog simulator. Passive ISE: Elementselements

of construction area, road signs, guardrails, etc.
3.5
control centre

centralized or distributed service for test-object (3.1) control and safety monitoring including provision of

communication services to the test objects
2 © ISO 2022 – All rights reserved
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ISO/DTSTS 22133:2022(E)
3.6
path

set of local or global positions in respect to a point of origin and in respect to the orientation to the axes

of a defined coordinate system (x,y,z)
3.7
lateral path deviation

position error of the target vehicle relative to the planned path (3.6) measured perpendicular from the

planned path direction
[SOURCE: ISO 19206-3:2021, 3.8], modified — Notes to entry and figure removed.]
3.8
trajectory

path which(3.6) where a test object (3.1) is or is intended to move along including test-object dynamics

(i.e. including timing)

Note 1 to entry: A trajectory contains a path and additionally the test-object dynamics (such as time, yaw, velocity,

acceleration, etc.) for each position on the path.

Note 2 to entry: All test-object parameters related to test-object dynamic (e.g. limitations in acceleration) are

described in the corresponding DIDX-file.
3.9
static trajectory

offline pre-planned trajectory (3.8) including test-object (3.1) position and test-object motion dynamics

for a single moveable test object (3.3) as part of the traffic scenario

Note 1 to entry: The trajectory is downloaded to the test object utilizing the trajectory object message (TRAJ).

Note 2 to entry: The parameters used by the test object are described in the DIDX-file.

Note 3 to entry: The Controlcontrol centre extract(3.5) extracts information from the trajectory file and buildbuilds

a trajectory message, TRAJ, that is understandable by the test object.
3.10
dynamic trajectory

trajectory (3.8) which at the start of the scenario execution is not known by the test object(s) (3.1) nor the

control centre (CC) (3.5)

Note 1 to entry: The dynamic trajectory is created based on events and actions during the ongoing test.

Note 2 to entry: The dynamic trajectory is continuously sent by the CC or gated through the CC in smaller

pieces/fragments utilizing the trajectory object message (TRAJ).

Note 3 to entry: In the case where the test object(s) or other systems (e.g. a simulation environment) are generating

the dynamic trajectory this information shall be gated by sending to the CC and then from the CC to the test object.

3.11
test scenario

test scenario, as defined in ISO 34501, including all test objects, (3.1), moveable and stationary, and the

definition of the planned activities over time or/and location

Note 1 to entry: The traffic scenario can be formally represented by two complementary descriptions enabling test

execution, a scenario description, (3.12), and a map of the test area.
3.12
scenario description
textual representation of a scenario

Note 1 to entry: A scenario description can be used in combination with a scenery description (3.13) to generate

trajectories (3.8) (static or dynamic) by the CCcontrol centre (3.5) or at a test object. (3.1).

[1017]
EXAMPLE: Test scenario (3.11) described using OpenSCENARIO or iSCAML .
© ISO 2022 – All rights reserved 3
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ISO/DTSTS 22133:2022(E)
3.13
scenery description

representation of the test area including but limited to the road geometry (e.g. lanes and junctions) and

stationary test objects (3.4) (e.g. road signs and markings)

Note 1 to entry: A scenery description can be used in combination with a scenario description (3.12) to generate

trajectories (3.8) (static or dynamic) by the CCcontrol centre (3.5) or at a test object. (3.1).

EXAMPLE: Temporary lane-setup on a proving ground, described using OpenDRIVE.
3.14
safety speed limit

maximum allowed speed when repositioning moveable test objects (3.3) while not participating in

ongoing test
Note 1 to entry: The test object (
...

FINAL
TECHNICAL ISO/DTS
DRAFT
SPECIFICATION 22133
ISO/TC 22/SC 33
Road vehicles — Test object
Secretariat: DIN
monitoring and control for active
Voting begins on:
2022-11-24 safety and automated/autonomous
vehicle testing — Functional
Voting terminates on:
2023-01-19
requirements, specifications and
communication protocol
Véhicules routiers — Surveillance et contrôle des objets de test
pour l’évaluation de la sécurité active et des véhicules automatisés/
autonomes — Exigences fonctionnelles, caractéristiques et protocole
de communication
RECIPIENTS OF THIS DRAFT ARE INVITED TO
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
Reference number
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/DTS 22133:2022(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS. © ISO 2022
---------------------- Page: 1 ----------------------
ISO/DTS 22133:2022(E)
TECHNICAL ISO/TS
SPECIFICATION 22133
First edition
Road vehicles — Test object
monitoring and control for active
safety and automated/autonomous
vehicle testing — Functional
requirements, specifications and
communication protocol
Véhicules routiers — Surveillance et contrôle des objets de test
pour l’évaluation de la sécurité active et des véhicules automatisés/
autonomes — Exigences fonctionnelles, caractéristiques et protocole
de communication
COPYRIGHT PROTECTED DOCUMENT
© ISO 2022

be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on

the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below

or ISO’s member body in the country of the requester.
PROOF/ÉPREUVE
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Reference number
Email: copyright@iso.org
ISO/TS 22133:2022(E)
Website: www.iso.org
Published in Switzerland
© ISO 2022 – All rights reserved
© ISO/TS 2022
---------------------- Page: 2 ----------------------
ISO/TS 22133:2022(E)
Contents